Image processing circuits for real-time visualizations using MRI image data and predefined data of surgical tools

Abstract

Circuits and computer program products onboard and/or adapted to communicate with an scanner that electronically recognize predefined physical characteristics of the at least one tool to automatically segment image data provided by the scanner whereby the at least one tool constitutes a point of interface with the system. The circuits and computer program products are configured to provide a User Interface that defines workflow progression for an image guided surgical procedure and allows a user to select steps in the workflow, and generate multi-dimensional visualizations using the predefined data of the at least one tool and data from images of the patient in substantially real time during the surgical procedure.

That which is claimed is: 
     
       1. A circuit configured to communicate with an MM Scanner and/or be at least partially on-board an MR Scanner, the circuit comprising at least one processor that;
 obtains MRI image data of a patient; 
 segments the MRI image data while the patient is in a high-magnetic field of an MRI scanner using predefined physical characteristics of a flexible patch with a grid attached to a skull of the patient and of a trajectory guide; 
 deforms an electronic model of the flexible patch with the grid to fit a head surface of the patient and identify associated vertices; 
 calculates user adjustments to move at least one of a pitch, roll X or Y actuator to adjust a trajectory of a trajectory guide to provide a desired intrabody trajectory to a target site; 
 displays the calculated user adjustments to at least one display associated with an MRI suite to thereby provide a user with adjustment data regarding actuator adjustment for at least one of the pitch, roll, X or Y actuator of the trajectory guide to achieve the desired intrabody trajectory thereby facilitating an MRI-guided surgical procedure; 
 provides a User Interface on at least one display that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow progression; and 
 generates visualizations using the predefined physical characteristics of the grid and the segmented MRI image data of the patient in substantially real time during the surgical procedure. 
 
     
     
       2. The circuit of  claim 1 , wherein the pitch, roll, X and Y actuators are controlled by user input devices on a control member that is located away from the actuators, and wherein the user input devices on the control member are each separately attached to a respective actuator by a length of cable, and wherein the at least one processor displays instructions to the at least one display as to which user input devices need to be turned in a clockwise or counterclockwise turn direction and display a number of turns for at least one thumbwheel associated with at least one of the pitch, roll, X or Y actuator of the trajectory guide. 
     
     
       3. The circuit of  claim 1 , wherein the predefined physical characteristics of the trajectory guide comprises a plurality of spaced apart shaped markers in a defined relationship, and wherein the at least one processor segments the image data to identify an orientation and location of the markers in image space to orient and locate the trajectory guide in the generated visualizations. 
     
     
       4. The circuit of  claim 1 , wherein the at least one processor displays a location or coordinates or a location and coordinates of a desired location associated with the flexible grid that provides a desired burr hole location for a trajectory entry path through the skull of the patient. 
     
     
       5. The circuit of  claim 1 , wherein the generated visualizations include a visualization presented on the display which shows the flexible patch as an overlay on a patient with defined grid coordinates for a surgical entry site. 
     
     
       6. The circuit of  claim 1 , wherein the providing the User Interface is configured to allow a user to select a bilateral procedure, and in response thereto, the User Interface displays workflow steps that guides a user to complete grid entry locations for both sides, hole formation for both sides and trajectory frame attachment to both sides before proceeding to a “plan target” step due to brain shift and before directing a patient to be returned to an imaging location in the magnet. 
     
     
       7. An image processing circuit configured to communicate with an MRI Scanner and/or be at least partially on-board an MR Scanner, the circuit comprising at least one processor that;
 obtains MRI image data of a patient; 
 segments the obtained MRI image data while the patient is in a high-magnetic field of an MRI scanner using predefined physical characteristics of surgical tools including a trajectory guide, wherein the trajectory guide comprises fiducial markers in a fixed geometric relationship as at least some of the predefined physical characteristics, the trajectory guide configured to define a trajectory path for a subsurface brain target in the patient, the trajectory guide having a base that affixes to a patient's skull, wherein the MRI image data is segmented to locate the fiducial markers of the trajectory guide and identify an orientation of the trajectory guide; 
 generates multi-dimensional visualizations using the predefined physical data of the different surgical tools and data from the obtained MR images of the patient in substantially real time during the MRI-guided surgical procedure; and 
 provides a User Interface to a display that defines workflow progression for the MRI-guided surgical procedure and allows a user to select steps in the workflow. 
 
     
     
       8. The circuit of  claim 7 , wherein the obtained MRI image data of the patient includes MRI image data of patient function, and wherein the visualizations also show patient function including active regions in a brain of the patient based on fMRI and/or patient stimulation. 
     
     
       9. The circuit of  claim 7 , wherein the processor selectively displays brain fiber tracks of the patient in at least some of the visualizations on the display. 
     
     
       10. The circuit of  claim 7 , wherein the predefined physical data comprises predefined physical characteristics of a flexible grid attached to a skull of the patient; and
 wherein the processor deforms an electronic model of the grid to fit a head surface of the patient and identify associated vertices. 
 
     
     
       11. The circuit of  claim 7 , wherein the User Interface that defines the workflow progression comprises a series of selectable workflow groups including “start”, “plan entry”, “plan target”, “navigate”, and “refine” that is used to guide the MRI-guided surgical procedure resulting in delivering a therapy after the “refine” workflow group. 
     
     
       12. The circuit of  claim 11 , wherein the User Interface also provides a “bilateral” selection option. 
     
     
       13. The circuit of  claim 7 , wherein the User Interface also includes an “Administrative” workflow group that electronically generates a medical report automatically summarizing clinical information regarding the patient and certain surgical information including at least a plurality of the following:
 (a) AC, PC, and MSP points in MR space (both detected and user-specified, if user modified); 
 (b) planned and corrected targets in both MR and ACPC space; 
 (c) elapsed time for the procedure; and 
 (d) screenshots taken during the procedure. 
 
     
     
       14. The circuit of  claim 7 , wherein the provided User Interface allows a user to select different intrabody procedures including a unilateral or bilateral procedure and a desired intrabody target, then, if a bilateral procedure is selected, the User Interface electronically provides a toolbar with left and right workflow steps. 
     
     
       15. The circuit of  claim 7 , wherein the provided User Interface generates a different workflow group when a bilateral option is selected so as to display workflow steps that guides a user to complete grid entry locations for both bilateral sides, hole formation for both sides and trajectory frame attachment to both sides before proceeding to a “plan target” step due to brain shift and before directing a patient to be returned to an imaging location. 
     
     
       16. The circuit of  claim 7 , wherein the processor:
 presents on the display, a user-selectable trajectory line to a deep brain location that intersects a flexible grid on a patient's skull and defines a location on the grid for marking a burr entry hole based on the desired trajectory line; and 
 directs the circuit to generate an audible and/or visual warning when a user selects a trajectory line that does not intersect the grid. 
 
     
     
       17. The circuit of  claim 7 , wherein the User Interface accepts input of an identifier associated with the tools and blocks use of a surgical system if the identifier indicates that it is not an authorized tool or that the at least one tool has a version that is not compatible with the surgical system. 
     
     
       18. The circuit of  claim 7 , wherein the processor:
 analyzes data regarding a bore size of a scanner being used for the MRI-guided surgical procedure of the patient; 
 monitors for a physical limitation or interference of a surgical tool based on: (a) pre- defined physical characteristics of the surgical tool; (b) scanner bore size; and (c) patient size; and 
 generates an audible and/or visual warning or an audible and visual warning when one or more of the surgical tools will be blocked by physical interference with a wall defining at least a portion of the bore size of the scanner. 
 
     
     
       19. The circuit of  claim 7 , wherein the segmentation of the obtained MRI image data identifies a position and orientation of a flexible patch as one of the surgical tools based on predefined physical characteristics of the patch, the patch comprising a grid and is adapted to reside on the patient;
 deforms an electronic model of the flexible patch to fit curvature of a skull of the patient; and 
 displays a visual overlay of the deformed electronic model of the flexible patch on the skull of the patient on the display. 
 
     
     
       20. The circuit of  claim 7 , wherein the processor:
 calculates user adjustments to move at least one of a pitch, roll, X or Y actuator to adjust a trajectory of the trajectory guide to provide a desired intrabody trajectory to a target site; and 
 displays the calculated user adjustments to the display to thereby provide a user with adjustment data regarding actuator adjustment for at least one of the pitch, roll, X or Y actuator of the trajectory guide to achieve the desired intrabody trajectory thereby facilitating an MRI-guided surgical procedure.